水下无人系统学报2024，Vol.32Issue(2)：328-336,375,10.DOI:10.11993/j.issn.2096-3920.2023-0120
基于自抗扰理论的欠驱动AUV无模型自适应路径跟踪控制
Model-Free Adaptive Path Tracking Control Based on Active Disturbance Rejection Control for AUVs
摘要
Abstract
In view of the task requirements of accurate recovery of autonomous undersea vehicles(AUVs),a model-free adaptive control based on the active disturbance rejection control(ADRC-MFAC)algorithm was proposed from the perspective of model-free control,so as to improve the insufficient path tracking accuracy caused by model uncertainty and vulnerability to environmental interference in AUV motion.According to the characteristics of the second-order model system and line-of-sight guidance,the MFAC was improved by redesigning the control input criterion function,solving the problem that MFAC was only applicable to the self-balancing system.A tracking differentiator was introduced to smooth the desired signal,and a linear extended state observer was designed by considering the influence of unknown compound interference.The estimated disturbance was compensated for in the controller.The stability of the controller was verified,and system robustness was improved.Under the same interference,the proposed control scheme could improve the anti-interference ability and control precision by 42.37%and 45%,compared with the traditional proportional-integral-differential controller.The result shows that ADRC-MFAC can significantly improve the anti-interference performance of AUVs and enhance path tracking accuracy.关键词
自主水下航行器/无模型自适应控制/路径跟踪/自抗扰Key words
autonomous undersea vehicle/mode-free adaptive control/path tracking/active disturbance rejection分类
军事科技引用本文复制引用
付少波,关夏威,张昊..基于自抗扰理论的欠驱动AUV无模型自适应路径跟踪控制[J].水下无人系统学报,2024,32(2):328-336,375,10.基金项目
湖北省青年拔尖人才基金资助. （）
